]> rtime.felk.cvut.cz Git - hubacji1/path-to-traj.git/blob - pa04-1.json
Add oval scenarios with mtr 5
[hubacji1/path-to-traj.git] / pa04-1.json
1 {
2         "bcnt" : 1,
3         "cost" : 35.041635748068558,
4         "costs" : 
5         [
6                 35.041635748068558
7         ],
8         "entry" : 
9         [
10                 11.345355980781841,
11                 -2.6489966265108027,
12                 0.41800000000000043,
13                 0.41800000000000043
14         ],
15         "goal" : 
16         [
17                 10.20592845165619,
18                 -3.0308042212159858,
19                 -0.0086395252451976004
20         ],
21         "goal_cc" : 20.884619667449947,
22         "icnt" : 125,
23         "init" : 
24         [
25                 0,
26                 0,
27                 0
28         ],
29         "ispath" : 
30         [
31                 [
32                         11.253965717332093,
33                         -2.689589972598379,
34                         0.41800000000000043
35                 ],
36                 [
37                         11.253965717332093,
38                         -2.689589972598379,
39                         0.41800000000000043
40                 ],
41                 [
42                         9.9062503421230446,
43                         -3.0432640258068195,
44                         0.066649802739249087
45                 ],
46                 [
47                         10.20592845165619,
48                         -3.0308042212159858,
49                         -0.0086395252451976004
50                 ]
51         ],
52         "ncnt" : 6,
53         "obst" : 
54         [
55                 [
56                         [
57                                 7.25,
58                                 -2.25
59                         ],
60                         [
61                                 6.75,
62                                 -2.25
63                         ],
64                         [
65                                 6.75,
66                                 -1.75
67                         ],
68                         [
69                                 7.25,
70                                 -1.75
71                         ],
72                         [
73                                 7.25,
74                                 -2.25
75                         ]
76                 ],
77                 [
78                         [
79                                 7.25,
80                                 -4.25
81                         ],
82                         [
83                                 6.75,
84                                 -4.25
85                         ],
86                         [
87                                 6.75,
88                                 -3.75
89                         ],
90                         [
91                                 7.25,
92                                 -3.75
93                         ],
94                         [
95                                 7.25,
96                                 -4.25
97                         ]
98                 ],
99                 [
100                         [
101                                 7.25,
102                                 -6.25
103                         ],
104                         [
105                                 6.75,
106                                 -6.25
107                         ],
108                         [
109                                 6.75,
110                                 -5.75
111                         ],
112                         [
113                                 7.25,
114                                 -5.75
115                         ],
116                         [
117                                 7.25,
118                                 -6.25
119                         ]
120                 ],
121                 [
122                         [
123                                 9.25,
124                                 -6.25
125                         ],
126                         [
127                                 8.75,
128                                 -6.25
129                         ],
130                         [
131                                 8.75,
132                                 -5.75
133                         ],
134                         [
135                                 9.25,
136                                 -5.75
137                         ],
138                         [
139                                 9.25,
140                                 -6.25
141                         ]
142                 ],
143                 [
144                         [
145                                 11.25,
146                                 -6.25
147                         ],
148                         [
149                                 10.75,
150                                 -6.25
151                         ],
152                         [
153                                 10.75,
154                                 -5.75
155                         ],
156                         [
157                                 11.25,
158                                 -5.75
159                         ],
160                         [
161                                 11.25,
162                                 -6.25
163                         ]
164                 ],
165                 [
166                         [
167                                 7.25,
168                                 -2.25
169                         ],
170                         [
171                                 6.75,
172                                 -2.25
173                         ],
174                         [
175                                 6.75,
176                                 -1.75
177                         ],
178                         [
179                                 7.25,
180                                 -1.75
181                         ],
182                         [
183                                 7.25,
184                                 -2.25
185                         ]
186                 ],
187                 [
188                         [
189                                 11.25,
190                                 -0.25
191                         ],
192                         [
193                                 10.75,
194                                 -0.25
195                         ],
196                         [
197                                 10.75,
198                                 0.25
199                         ],
200                         [
201                                 11.25,
202                                 0.25
203                         ],
204                         [
205                                 11.25,
206                                 -0.25
207                         ]
208                 ],
209                 [
210                         [
211                                 15.25,
212                                 -0.25
213                         ],
214                         [
215                                 14.75,
216                                 -0.25
217                         ],
218                         [
219                                 14.75,
220                                 0.25
221                         ],
222                         [
223                                 15.25,
224                                 0.25
225                         ],
226                         [
227                                 15.25,
228                                 -0.25
229                         ]
230                 ],
231                 [
232                         [
233                                 19.25,
234                                 -0.25
235                         ],
236                         [
237                                 18.75,
238                                 -0.25
239                         ],
240                         [
241                                 18.75,
242                                 0.25
243                         ],
244                         [
245                                 19.25,
246                                 0.25
247                         ],
248                         [
249                                 19.25,
250                                 -0.25
251                         ]
252                 ],
253                 [
254                         [
255                                 7.25,
256                                 2.75
257                         ],
258                         [
259                                 6.75,
260                                 2.75
261                         ],
262                         [
263                                 6.75,
264                                 3.25
265                         ],
266                         [
267                                 7.25,
268                                 3.25
269                         ],
270                         [
271                                 7.25,
272                                 2.75
273                         ]
274                 ],
275                 [
276                         [
277                                 11.25,
278                                 4.75
279                         ],
280                         [
281                                 10.75,
282                                 4.75
283                         ],
284                         [
285                                 10.75,
286                                 5.25
287                         ],
288                         [
289                                 11.25,
290                                 5.25
291                         ],
292                         [
293                                 11.25,
294                                 4.75
295                         ]
296                 ],
297                 [
298                         [
299                                 15.25,
300                                 2.75
301                         ],
302                         [
303                                 14.75,
304                                 2.75
305                         ],
306                         [
307                                 14.75,
308                                 3.25
309                         ],
310                         [
311                                 15.25,
312                                 3.25
313                         ],
314                         [
315                                 15.25,
316                                 2.75
317                         ]
318                 ],
319                 [
320                         [
321                                 19.25,
322                                 2.75
323                         ],
324                         [
325                                 18.75,
326                                 2.75
327                         ],
328                         [
329                                 18.75,
330                                 3.25
331                         ],
332                         [
333                                 19.25,
334                                 3.25
335                         ],
336                         [
337                                 19.25,
338                                 2.75
339                         ]
340                 ]
341         ],
342         "ogoal_cc" : 35.041635748068558,
343         "opath" : 
344         [
345                 [
346                         0.0,
347                         0.0,
348                         0.0,
349                         0.0
350                 ],
351                 [
352                         -0.4986892401969264,
353                         -0.031325161923024473,
354                         0.1254651455172934,
355                         -0.1254651455172934
356                 ],
357                 [
358                         -0.98953865467239843,
359                         -0.12480818908185064,
360                         0.25093029103458681,
361                         -0.25093029103458681
362                 ],
363                 [
364                         -1.4648316665388816,
365                         -0.27897944752057025,
366                         0.37639543655188018,
367                         -0.37639543655188018
368                 ],
369                 [
370                         -1.9170962589985263,
371                         -0.49141523185316083,
372                         0.50186058206917361,
373                         -0.50186058206917361
374                 ],
375                 [
376                         -2.3392224419030225,
377                         -0.75877586800622498,
378                         0.62732572758646699,
379                         -0.62732572758646699
380                 ],
381                 [
382                         -2.7245740269417356,
383                         -1.0768582157808897,
384                         0.75279087310376036,
385                         -0.75279087310376036
386                 ],
387                 [
388                         -2.9720098990124302,
389                         -1.3302239573459167,
390                         0.84168585817356067,
391                         -0.84168585817356067
392                 ],
393                 [
394                         -2.6631411598208694,
395                         -0.93744879773433043,
396                         0.96715100369085405,
397                         0.12546514551729337
398                 ],
399                 [
400                         -2.4058506674882234,
401                         -0.50911034905978392,
402                         1.0926161492081476,
403                         0.25093029103458697
404                 ],
405                 [
406                         -2.204183250851945,
407                         -0.051942461818192294,
408                         1.2180812947254409,
409                         0.37639543655188024
410                 ],
411                 [
412                         -2.0613092959414168,
413                         0.42686778981173695,
414                         1.3435464402427344,
415                         0.50186058206917372
416                 ],
417                 [
418                         -1.9794749047703724,
419                         0.91979309498419037,
420                         1.4690115857600279,
421                         0.62732572758646721
422                 ],
423                 [
424                         -1.9599665846726155,
425                         1.4190842420163146,
426                         1.5944767312773211,
427                         0.75279087310376047
428                 ],
429                 [
430                         -2.0030910232951951,
431                         1.9168919426911626,
432                         1.7199418767946146,
433                         0.87825601862105396
434                 ],
435                 [
436                         -2.1081702672036173,
437                         2.4053902298502119,
438                         1.8454070223119079,
439                         1.0037211641383472
440                 ],
441                 [
442                         -2.2735523798955857,
443                         2.8768994883587093,
444                         1.9708721678292014,
445                         1.1291863096556407
446                 ],
447                 [
448                         -2.4966374116700805,
449                         3.3240071852907387,
450                         2.0963373133464946,
451                         1.254651455172934
452                 ],
453                 [
454                         -2.7739182730830114,
455                         3.7396844013512229,
456                         2.2218024588637881,
457                         1.3801166006902275
458                 ],
459                 [
460                         -3.1010358694233826,
461                         4.1173963315601991,
462                         2.3472676043810816,
463                         1.5055817462075209
464                 ],
465                 [
466                         -3.1491198127443796,
467                         4.1655179574015246,
468                         2.3643380010133836,
469                         1.522652142839823
470                 ],
471                 [
472                         -2.771664254149468,
473                         3.8381045713839472,
474                         2.4898031465306771,
475                         -0.1254651455172934
476                 ],
477                 [
478                         -2.356204380504503,
479                         3.5604981639496067,
480                         2.6152682920479706,
481                         -0.25093029103458681
482                 ],
483                 [
484                         -1.909271579978894,
485                         3.3370629476742257,
486                         2.7407334375652637,
487                         -0.37639543655188018
488                 ],
489                 [
490                         -1.7107085886401561,
491                         3.2591113650416879,
492                         2.7942672728494182,
493                         -0.4299292718360348
494                 ],
495                 [
496                         -1.2405653521936235,
497                         3.0889193052281358,
498                         2.7942672728494182,
499                         -0.12546514551729337
500                 ],
501                 [
502                         -0.77042211574709096,
503                         2.9187272454145834,
504                         2.7942672728494182,
505                         -0.25093029103458675
506                 ],
507                 [
508                         -0.30027887930055819,
509                         2.7485351856010309,
510                         2.7942672728494182,
511                         -0.37639543655188024
512                 ],
513                 [
514                         0.16986435714597459,
515                         2.5783431257874794,
516                         2.7942672728494182,
517                         -0.50186058206917361
518                 ],
519                 [
520                         0.64000759359250692,
521                         2.4081510659739269,
522                         2.7942672728494182,
523                         -0.62732572758646699
524                 ],
525                 [
526                         1.1101508300390406,
527                         2.2379590061603745,
528                         2.7942672728494182,
529                         -0.75279087310376047
530                 ],
531                 [
532                         1.5802940664855725,
533                         2.0677669463468225,
534                         2.7942672728494182,
535                         -0.87825601862105374
536                 ],
537                 [
538                         2.0504373029321052,
539                         1.8975748865332704,
540                         2.7942672728494182,
541                         -1.0037211641383472
542                 ],
543                 [
544                         2.5205805393786371,
545                         1.727382826719718,
546                         2.7942672728494182,
547                         -1.1291863096556405
548                 ],
549                 [
550                         2.9907237758251699,
551                         1.5571907669061664,
552                         2.7942672728494182,
553                         -1.254651455172934
554                 ],
555                 [
556                         3.4608670122717018,
557                         1.3869987070926135,
558                         2.7942672728494182,
559                         -1.3801166006902275
560                 ],
561                 [
562                         3.9310102487182346,
563                         1.216806647279062,
564                         2.7942672728494182,
565                         -1.5055817462075207
566                 ],
567                 [
568                         4.401153485164766,
569                         1.0466145874655099,
570                         2.7942672728494182,
571                         -1.6310468917248138
572                 ],
573                 [
574                         4.8712967216112997,
575                         0.87642252765195794,
576                         2.7942672728494182,
577                         -1.7565120372421072
578                 ],
579                 [
580                         5.3414399580578316,
581                         0.70623046783840548,
582                         2.7942672728494182,
583                         -1.8819771827594007
584                 ],
585                 [
586                         5.8115831945043634,
587                         0.53603840802485347,
588                         2.7942672728494182,
589                         -2.007442328276694
590                 ],
591                 [
592                         6.2817264309508989,
593                         0.36584634821130102,
594                         2.7942672728494182,
595                         -2.1329074737939875
596                 ],
597                 [
598                         6.7518696673974308,
599                         0.19565428839774901,
600                         2.7942672728494182,
601                         -2.258372619311281
602                 ],
603                 [
604                         6.8251549296981988,
605                         0.1691249909878465,
606                         2.7942672728494182,
607                         -2.2779299486229503
608                 ],
609                 [
610                         7.2834030887693437,
611                         -0.030075533021499012,
612                         2.6688021273321247,
613                         -0.12546514551729349
614                 ],
615                 [
616                         7.7131220155285796,
617                         -0.28505370471975144,
618                         2.5433369818148313,
619                         -0.25093029103458697
620                 ],
621                 [
622                         8.1075561571717696,
623                         -0.59180104694766822,
624                         2.4178718362975378,
625                         -0.37639543655188046
626                 ],
627                 [
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1714                                 0.59614521846805424,
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1717                                 false
1718                         ],
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1720                                 11.155825051664966,
1721                                 -2.7392310421021566,
1722                                 0.47068007295076075,
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1726                         ],
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1730                                 0.34521492743346738,
1731                                 -0.1254651455172934,
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1733                                 true
1734                         ],
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1800                                 9.7097205015954486,
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1802                                 0.016676064940640889,
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1804                                 36,
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1806                         ],
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1810                                 0.14214121045793432,
1811                                 0.25093029103458686,
1812                                 36,
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1815                         [
1816                                 10.697040355487196,
1817                                 -2.8883291302407788,
1818                                 0.26760635597522769,
1819                                 0.37639543655188024,
1820                                 36,
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1822                         ],
1823                         [
1824                                 11.169696430738284,
1825                                 -2.7262536583583006,
1826                                 0.39307150149252107,
1827                                 0.50186058206917361,
1828                                 36,
1829                                 false
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1831                         [
1832                                 11.345355980781841,
1833                                 -2.6489966265108027,
1834                                 0.41800000000000043,
1835                                 0.0,
1836                                 0,
1837                                 false
1838                         ]
1839                 ]
1840         ],
1841         "rcnt" : 6,
1842         "slot" : 
1843         [
1844                 [
1845                         8.75,
1846                         -2.0000000000000004
1847                 ],
1848                 [
1849                         8.75,
1850                         -4.2000000000000002
1851                 ],
1852                 [
1853                         15.25,
1854                         -4.2000000000000002
1855                 ],
1856                 [
1857                         15.25,
1858                         -2.0
1859                 ]
1860         ],
1861         "time" : 0.0
1862 }